SimultaneousMapping and Localization (SLAM) is amultidisciplinary problem with ramifications within several fields. One of the
key aspects for its popularity and success is the data fusion produced by SLAM techniques, providing strong and robust sensory
systems even with simple devices, such as webcams in Monocular SLAM. This work studies a novel batch validation algorithm,
the highest order hypothesis compatibility test (HOHCT), against one of the most popular approaches, the JCCB. The HOHCT
approach has been developed as a way to improve performance of the delayed inverse-depth initialization monocular SLAM, a
previously developed monocular SLAM algorithm based on parallax estimation. Both HOHCT and JCCB are extensively tested
and compared within a delayed inverse-depth initialization monocular SLAM framework, showing the strengths and costs of this
proposal.

Materia(s):

Àrees temàtiques de la UPC::Informàtica::RobòticaRobots Control systemsRobots -- Sistemes de control